TW202000553A - Article transport vehicle - Google Patents

Abstract

In situations in which an article transport vehicle is used to collect articles from a plurality of storage units storing the articles, this invention makes it possible to appropriately identify a worker having extracted an article from a storage unit while limiting an increase in work steps. This article transport vehicle comprises a control unit, a hold unit that holds an article that was extracted from a storage unit storing articles and was loaded through a loading port by a worker, a loading detection unit that detects the loading of the article through the insertion opening, and an identification information read unit that reads identification information representing worker information, wherein the identification information read unit reads the identification information when the loading detection unit has detected that the article has been loaded, and the control unit associates the loading history for the article with the identification information and stores same in the storage unit.

Description

Item Carrier

The present invention relates to an article transport vehicle for collecting articles from a plurality of storage sections for storing articles.

Japanese Patent Laid-Open No. 2008-247546 discloses a picking device equipped with a trolley (1) for picking operations, and collects the items picked from the storage rack (3) at a sorted destination according to stores, etc. Divided containers (in the prior art, the symbol in parentheses is the symbol of the referenced document). In this equipment, the operator moves the trolley (1) for picking operation along the storage rack (3) composed of a plurality of storage sections (5) storing different items. Then, according to the designation made by the terminal (21) installed in the picking operation trolley (1), the article is taken out from the storage unit (5) and stored in the container (8) of the picking operation trolley (1) . The container (8) is set for each sorting destination, whereby items can be concentrated for each sorting destination.

When collecting items, the operator may pick up the wrong item from the storage section by mistake. In such a case, it is ideal that the occurrence of mis-picking is properly fed back to the operator to prevent it from happening again. For this reason, although it is desirable that the operator who performs the picking operation can be easily identified, it is undesirable to add an operation step for identifying the operator during the picking operation. That is, it is desirable to suppress an increase in the number of steps in the picking operation, and to specify the operator of the picking operation.

In view of the above background, it is desirable to provide a technique for suppressing an increase in the number of work steps when collecting articles from a plurality of storage sections that store articles using an article transport vehicle, and appropriately identifying an operator who takes out items from the storage section.

As one aspect, in view of the above, the article transport vehicle includes: a walking section that walks to a set position, the set position being a position set corresponding to each of a plurality of storage sections storing items; the control section To control the walking part; the support part to support the article, the article is taken out by the operator from the storage part and put into the input port; the input detection part, detects the input of the item into the input port; and identification information reading It reads the identification information that shows the information of the operator. The identification information reading part reads the identification information when the input detection part detects the input of the item. The control part also makes the input history of the item The aforementioned identification information is related and stored in the storage unit.

According to this configuration, when the input of the article into the input port is detected by the input detection unit, the identification information reading unit reads the identification information that displays the information of the operator. Therefore, it is possible to suppress the situation in which the operator is required to perform special actions or operations in order to read the identification information, and it is also possible to suppress the decrease in the operation efficiency. In addition, since the article input history is related to the identification information and stored in the storage section, it is possible to appropriately record the operator who takes the article from the storage section and puts it into the input port. As described above, according to this configuration, when an article transport vehicle is used to collect articles from a plurality of storage sections that store articles, it is possible to appropriately increase the number of work steps and appropriately identify an operator who takes out articles from the storage section.

Further features and advantages of the article transport vehicle will become clear from the description of the embodiments described below with reference to the drawings.

Hereinafter, an embodiment of an article transport vehicle used for picking equipment will be described based on the drawings. FIG. 1 is a plan view of the picking device 100 viewed from above along the up-down direction Z, and FIG. 2 is a perspective view of the picking device 100 viewed diagonally from above. FIG. 3 is an enlarged perspective view of the picking device 100 and the article transfer vehicle 3. 4 is a side view of the article transfer vehicle 3, and FIG. 5 is a perspective view of the container 33 for the article transfer vehicle 3 when the worker M puts the article B toward the input port K in the one support position Q. As shown in FIG. The picking device 100 includes an article storage rack 2, a plurality of storage sections 1 that store articles B, and an article transport vehicle 3 that walks on the ground F. In addition, referring to the control block diagram of FIG. 6 and as will be described later, the picking facility 100 also includes a control device H that manages the articles B and the article transport vehicle 3 stored in the article storage rack 2. As shown in FIGS. 1 and 2, in the picking device 100, a plurality of workers M will cooperate with the article transport vehicle 3 to pick up the articles B collected from the plurality of storage units 1 for each sorting destination operation.

Hereinafter, with respect to the storage portion 1 and the article storage rack 2, the direction in which the storage portions 1 of the article storage rack 2 are arranged is referred to as a first direction X (arrangement direction) from a vertical viewing angle, and is relative to the first The direction orthogonal to the direction X will be referred to as the second direction Y for description. In addition, in the relationship with each storage portion 1, the direction from the storage portion 1 toward the passage L along the second direction Y is referred to as the passage side Y1, and the direction from the passage L toward the storage portion 1 along the second direction Y The direction is called the storage section side Y2. For the article transport vehicle 3, the direction along the traveling direction when the article transport vehicle 3 travels straight is referred to as the front-rear direction U, and the direction orthogonal to the front-rear direction U on the horizontal plane is referred to as the width direction V. In the front-rear direction U, the traveling direction side when the article transport vehicle 3 travels straight is referred to as the front side U1, and the opposite side is referred to as the rear side U2.

The article storage rack 2 is provided with a plurality of storage sections 1 which are arranged in the vertical direction Z and the first direction X. Specifically, the article storage rack 2 is provided with a plurality of rack plates 6 which are in a state of being spaced in the vertical direction Z. On each shelf 6, a plurality of storage containers 7 are placed, and the storage containers 7 are arranged in the first direction X. That is, the storage portion 1 is formed by each of the plurality of storage containers 7 included in the article storage rack 2. In the article storage rack 2, a plurality of kinds of articles are stored according to the kind, and one kind of article is stored in one storage section 1 (storage container 7).

As shown in FIG. 3, the storage container 7 as the storage part 1 is provided with the opening surface 9 which has the opening part 8 which allows the article B to enter and exit. The storage container 7 is provided in the article storage rack 2 such that the opening surface 9 faces the passage side Y1. The plurality of storage sections 1 included in one article storage rack 2 are arranged with the opening surface 9 facing the same direction.

As shown in FIG. 1, the area where the article storage rack 2 is provided is divided into a plurality of areas E. Preferably, each of the plurality of areas E is provided with a responsible operator M. The operator M will carry out the picking operation to transfer the article B from the article storage rack 2 to the article transfer vehicle 3 in the area E in which he is responsible. In addition, the operator M may perform a supplementary operation for transferring the article B from the article transport vehicle 3 to the article storage rack 2. In addition, the relationship between the number of areas E and the number of workers M can be arbitrarily changed. For example, a plurality of workers M can be arranged in one area E, or a single worker M can be responsible for the plurality of areas E .

The control device H manages the category of the article B stored in the storage unit 1, the inventory quantity, and the like. The control device H, for example, when outputting a picking command for collecting the articles B from the article storage rack 2 for each sorting destination from the higher-level controller, sends the picking information to the control section 15 of the article transport vehicle 3. The picking information is information showing the position of the storage unit 1 where the item B is taken out by the picking operation performed by the operator M, or information about the type or number of the item B taken out from the storage unit 1.

As shown in FIG. 4, the article transport vehicle 3 includes: a walking section 11 that walks on the ground F; a supporting section 12 that supports the article B; a notification section 10 that notifies the operator M of the picking information; and a control section 15, at least Control walking part 11. In addition, the article transport vehicle 3 is provided with: an ID reader 4 (identification information reading unit) that reads identification information that displays information of the operator M (operator identification information MID (see FIG. 10)); a barcode reader 17. Read the barcode displayed on the article B (article identification information TBID (refer to FIG. 10)); and the input detection unit 5 detects the input of the item B to the input port K (refer to FIG. 4, FIG. 5, etc.) described later.

As shown in FIGS. 3 and 4, the traveling unit 11 includes: a pair of traveling wheels 26 arranged in the width direction V; and a driven wheel 27 provided in the front-rear direction U with respect to the arrangement direction of the pair of traveling wheels 26 Both sides; and the travel motor 28 (refer to FIG. 6), which drives the travel wheel 26 to rotate. The traveling unit 11 is driven forward by the traveling motor 28 rotating both the pair of traveling wheels 26 in the forward rotation direction, and the traveling motor 28 rotating both the pair of traveling wheels 26 in the reverse direction Take this to walk backwards. In addition, the traveling unit 11 is rotatably traveled by the traveling motor 28 rotating a pair of traveling wheels 26 at different rotational speeds. In addition, the case of rotating at different rotation speeds also includes the case where the directions of rotation of each other are different, and the case where only one walking wheel 26 is driven and the other walking wheel 26 is stopped.

In addition, a pillar 31 is erected on the running portion 11. A plurality of support tables 32 (here, two support tables 32) are supported on this pillar 31. In addition, the notification portion 10 is supported on the upper end of the pillar 31. On the upper surface of the traveling portion 11 and each of the two support tables 32, the transport container 33 is supported. As shown in FIGS. 3 and 5, an opening is provided in each of the transport containers 33, and the opening corresponds to the input port K, and the input port K is an article B taken out from the storage unit 1 by the worker M It is put into the inlet of the container 33 for conveyance.

Here, the article transport vehicle 3 exemplifies the form including three transport containers 33, and the collection of these transport containers 33 is equivalent to the support portion 12 that supports the article B in one article transport vehicle 3. B is an item taken out by the operator M from the storage section and input from the input port K. In addition, the collection of the inlets K of the transport container 33 corresponds to the inlets K for the support portion 12. In other words, as shown in FIG. 4, the support portion 12 includes a plurality of support positions Q (the first support position Q1, the second support position Q2, and the third support position Q3 shown in FIGS. 4 and 8 ), and the input port K corresponds to Each of the plurality of support positions Q has a plurality of input regions R (first input region R1, second input region R2, and third input region R3).

The notification unit 10 includes a display unit 14. The display unit 14 is arranged such that the display screen will be on the rear side U2 and upward. At least a part of the picking information PI is displayed on the display unit 14. For example, the display unit 14 displays: the object item B taken out from the storage unit 1, that is, the type of the object item, the number of items taken out, the object storage unit 1 in which the object item is taken out, that is, the object storage unit, the object supporting the object item The supporting portion 12 is information such as an object supporting portion. Furthermore, it is preferable that the display unit 14 is configured with a touch panel, and the operator M can operate the displayed touch buttons. Here, the notification unit 10 exemplifies the form provided with the display unit 14. However, the notification unit 10 may not include the display unit 14 but may notify the form of the picked-up information PI by voice or the like.

As shown in FIG. 5, the operator identification information MID is installed on the identification information carrier T, and the aforementioned identification information carrier T is installed on the operator M's wrist. The operator identification information MID is, for example, an operator number assigned to each operator M and the like. In FIG. 5, as the identification information carrier T, a bracelet-type IC tag T1 mounted on the wrist of the operator M is exemplified. However, the identification information carrier T may be a ring-shaped IC tag attached to the operator M's finger, an IC tag attached to the operator M's glove, or the like. In addition, as illustrated in FIG. 7, the identification information carrier T may be an anklet type IC tag T2 attached to the ankle of the operator M. Alternatively, a chip-type IC tag provided on a part of shoes such as the toes of the operator M may be used as the identification information carrier T.

As such, the identification information carrier T can be made into a wireless tag (for example, an RFID tag) that can perform information communication with the ID reader 4 through wireless communication, and the ID reader 4 can be made into an RFID reader. If the wireless tag is a so-called passive type, it can be carried by the operator M regardless of the power source, which is ideal. In addition, when it is necessary to ensure a long communicable distance, it is also desirable to use an active wireless tag equipped with a power source.

In addition, the identification information carrier T and the ID reader 4 are not limited to such wireless communication. For example, a one-dimensional or two-dimensional barcode may be displayed on the back of the operator M's hand (the back side of the glove), etc., and the operator identification information MID contained in the barcode may be read by the barcode reader. In this case, the one-dimensional or two-dimensional barcode corresponds to the identification information carrier T, and the barcode reader corresponds to the ID reader 4. This barcode reader can be used together with the barcode reader 17 that reads the barcode displayed on the article B (item identification information TBID), or it can be another barcode reader.

The input detection unit 5 that detects the input of the article B to the input port K is configured using, for example, a light curtain. The light curtain is provided with: a light projecting part, which projects a plurality of light beams in the direction along the vertical direction Z between the input port K and the operator M; and a light receiving part, which receives the projected light beam or has been reflected by the detection object Light beam. The light curtain detects that the object B (the hand of the operator M or the object B) is blocked by the light beam to detect the input of the object B into the input port K.

In addition, as illustrated in FIGS. 4, 5, and 8, in the present embodiment, although the worker M puts the article B into the input port K from the rear side U2 of the article transport vehicle 3, the article B is put in The direction of is not limited to this form. The article B may also be inserted into the inlet K from the width direction V. Even in this case, as long as the worker M is located at the rear side U2 of the article transport vehicle 3, the input can be provided on the rear side U2 of the article transport vehicle 3 as exemplified in FIGS. 4, 5, and 8. The detection unit 5 detects the input of the article B to the input port K.

However, the input detection unit 5 may be provided on both the rear side U2 of the transport container 33 and the width direction V of the transport container 33. Similarly, in FIGS. 4, 5 and 8, although the ID reader 4 is also provided on the rear side U2 of the transport container 33, it may be provided on the rear side U2 of the transport container 33 and Both sides in the width direction V of the transport container 33. In addition, although the example in which the light beam is projected along the vertical direction Z is exemplified here, the light beam may be projected along the opening shape of the input port K. In addition, although the embodiment in which the input detection unit 5 is constituted by a light curtain is exemplified here, the input detection unit 5 may be configured by using other types of sensors such as an ultrasonic sensor, an electrostatic sensor, or a camera.

The ID reader 4 reads the operator identification information MID when the input detection unit 5 detects the input of the article B. As shown in FIG. 3, in the case where the identification information carrier is a bracelet-type IC tag T1 mounted on the wrist of the worker M, the hand of the worker M holding the item B approaches the input port K, causing the bracelet The type IC tag T1 enters the detection area of the ID reader 4. Therefore, no action or operation for reading the operator identification information MID is required, and the operator identification information MID can be read in the operation of dropping the article B from the input port K.

In this way, the detection of the input of the article B into the input port K by the input detection unit 5 and the detection of the worker identification information MID by the ID reader 4 can be performed at 1 by the worker M In one action (job). The control unit 15 associates the input history PH (see FIG. 10) of the article B with the operator identification information MID and stores it in the storage unit 40. Ideally, in the input history PH, in addition to the operator identification information MID, it also contains information of the item B (picking information PI, item identification information TBID, etc.).

In addition, although FIG. 6 illustrates an example in which the storage unit 40 is mounted on the article transport vehicle 3, the storage unit 40 may be provided outside the article transport vehicle 3 (a higher-level controller such as the control device H, or a server, or a database) Wait). In this case, information will be communicated from the article transfer vehicle 3 to the external storage unit 40 by communication. Ideally, although the form of communication is wireless communication, the information can also be temporarily stored on the temporary storage medium mounted on the article transport vehicle 3, and the external storage unit 40 can be wiredly connected to the article transport vehicle 3, thereby To communicate information to an external storage unit 40. In addition, the present invention is not limited to a wired connection. In the case where the temporary storage medium is a memory card or the like that can be easily removed from the article transport vehicle 3, the temporary storage medium can also convey information.

By the way, as described above, the support portion 12 includes the plurality of support positions Q, and the input port K corresponds to each of the plurality of support positions Q, and has the plurality of input regions R. The input detection unit 5 specifies an input area R, which is an input area R where an existing item B is input, from among the plurality of input areas R (refer to FIG. 10 ). For example, in the form shown in FIG. 4, the input detection unit 5 is provided with a plurality of detection devices 51 corresponding to each input region R of the plurality of input regions R, that is, the first input region R1 , The second input area R2, the third input area R3. Since each input area R is detected by an independent detection device 51, even if a plurality of input areas R exist, the article input area BR can be appropriately identified.

In addition, in another form shown in FIG. 8, the input detection unit 5 includes one detection device 51 for all the plurality of input regions R. In this case, the detection device 51 specifies the article input area BR based on the relative position of the detection device 51 and the article B when the detection device 51 detects the article B. For example, in the form shown in FIG. 8, the first input area R1, the second input area R2, and the third Which of the input areas R3 is the article input area BR.

In FIG. 8, the form in which the input area R set at the different positions in the vertical direction Z are specified corresponding to the transport containers 33 at the different support positions Q in the vertical direction Z is illustrated. However, the article transport vehicle 3 is not limited to the form in which a plurality of transport containers 33 are arranged in the vertical direction Z, and may be in a form in which a plurality of transport containers 33 are arranged in the width direction V. FIG. 9 shows that the transport container 33 is arranged in three layers in the vertical direction Z, and arranged in two rows in the width direction V, and a plurality of inputs of the article transport vehicle 3 having six input ports K indicated by K1 to K6 The relationship between the region R and the detection range (hatched part) by the input detection unit 5. In the form shown in FIG. 9, the first row, the first input area R11, and the first row are specified based on the relative position of the detection device 51 and the article B when the detection device 51 detects the article B by one detection device 51 Which of the six input regions R of the second input region R12, the first column of the third input region R13, the second column of the first input region R21, the second column of the second input region R22, and the second column of the third input region R23 One is the BR in the goods input area.

In FIG. 9, when the article B is thrown into the inlet K at the position indicated by “K3”, the article throwing area BR is specified based on the relative position of the article B and the detection device 51 in the first column and third Put in area R13. In addition, in FIG. 9, when the article B is thrown into the inlet K at the position indicated by “K5”, the article throwing area BR is specified in the second row based on the relative position of the article B and the detection device 51 The second input area R22.

Hereinafter, the order of picking will also be described with reference to the flowchart of FIG. 10. When the control unit 15 of the article transport vehicle 3 receives the picking information from the control device H, it will drive and control the travel motor 28 to move the travel unit 11 to the set position P, which is a plural number corresponding to the stored article B The position set for each storage unit 1 in each storage unit 1. The control unit 15 avoids obstacles such as the article storage rack 2 or the operator M or other article conveyance vehicles 3 based on the detection results of sensors (not shown) mounted on the article conveyance vehicle 3 to make the article conveyance vehicle 3 Walk to the set position P by autonomous walking. When the article transport vehicle 3 stops at the set position P, the operator M responsible for the area E including the set position P will approach the article transport vehicle 3 and confirm the picking information PI displayed on the display unit 14. Although the picking information PI may include information that is not displayed on the display unit 14, the display unit 14 notifies the operator M of at least the information of the display target item. The object to be taken out of the storage unit 1.

The display unit 14 shows, for example, the storage units 1 in which rows and in which layers are the target storage units to which the objects are taken out. In addition, since the support portion 12 of the article transport vehicle 3 is provided with three transport containers 33, it is also shown that, for example, the transport container 33 from the top is the support position Q of the sort destination, that is, the target support position. In addition, it is desirable that the name of the target article, the product code, the number of items taken out, etc. are also displayed.

The operator M takes out the article B from the storage unit 1 based on the picking information PI displayed on the display unit 14 and supports it to the transport container 33 at the target support position. At this time, as described above, the input of the article B into the input port K is detected by the input detection unit 5 to identify the item input area BR, and the ID reader 4 is used to read the Identify the information of the information carrier T. After that, when the operator M touches a touch button such as “Done” displayed on the touch panel of the display unit 14, the control unit 15 determines that the removal of the article B from the support unit 12 has been completed. In addition, it is desirable that when another item B is supported by the support portion 12 and the operator identification information MID has been read, the touch buttons such as “done” of the touch panel can be operated. Of course, it may be that the operator M does not operate the touch button, but determines that the removal of the article B to the support portion 12 is completed by detecting that the article B has been thrown in from the loading port K.

As shown in FIG. 10, the control unit 15 first receives the picking information PI from the control device H (S1). As described above, after receiving the picking information PI in step S1, the control unit 15 controls the traveling unit 11 to move the article transport vehicle 3 to the set position P. Here, the order of movement of the article transport vehicle 3 is omitted, and the steps performed after the article transport vehicle 3 reaches the set position P (especially after step S3. Step S2 may also be performed while moving) . In addition, the operation of the touch button of "Done" by the operator M is also omitted here. After receiving the picking information PI, the control unit 15 causes the image information GI according to the picking information PI to be output to the display unit 14, and as described above, at least a part of the picking information PI is displayed on the display unit 14 (S2 ).

The operator M responsible for picking up refers to the display section 14 to take out the designated article B, that is, the target article, from the storage section 1, and approaches the barcode displayed on the target article to the barcode reader 17 to read the barcode. The control unit 15 obtains the item identification information TBID of the target item from the barcode reader 17 (S3). In addition, the item identification information TBID may not be the information read by the barcode reader 17, but the information included in the picking information PI. In this case, the article transport vehicle 3 may not include the barcode reader 17 as the article identification information reading unit. In addition, the above step S3 may not be executed.

Next, the control unit 15 waits until the input of the article B to the input port K is detected by the input detection unit 5 (S4). In step S4, when the input of the article B to the input port K is detected, the process proceeds to the next step. As described above, when the support portion 12 has a plurality of support positions Q and there are a plurality of input areas R, the article input area BR is specified, and its information is obtained as necessary (S5). As described above, with the detection of the input of the article B to the input port K, the operator identification information MID is acquired (S6). The control unit 15 associates the input history PH of the article B with the operator identification information MID and stores it in the storage unit 40 (S7). The input history PH may include item identification information TBID or item input area BR. In addition, since the target article as the article B picked at the set position P is known, in step S7, the set position P can also be associated with the operator identification information MID and used as the input history PH store.

[Summary of Embodiments] The outline of the article transfer vehicle described above will be briefly described below.

As one aspect, in view of the above, the article transport vehicle includes: a walking section that walks to a set position, the set position being a position set corresponding to each of a plurality of storage sections storing items; the control section To control the walking part; the support part to support the article, the article is taken out by the operator from the storage part and put into the input port; the input detection part, detects the input of the item into the input port; and identification information reading It reads the identification information that shows the information of the operator. The identification information reading part reads the identification information when the input detection part detects the input of the item. The control part also makes the input history of the item The aforementioned identification information is related and stored in the storage unit.

According to this configuration, when the input of the article into the input port is detected by the input detection unit, the identification information reading unit reads the identification information that displays the information of the operator. Therefore, it is possible to suppress the situation in which the operator is required to perform special actions or operations in order to read the identification information, and it is also possible to suppress the decrease in the operation efficiency. In addition, since the article input history is related to the identification information and stored in the storage section, it is possible to appropriately record the operator who takes the article from the storage section and puts it into the input port. As described above, according to this configuration, when an article transport vehicle is used to collect articles from a plurality of storage sections that store articles, it is possible to appropriately increase the number of work steps and appropriately identify an operator who takes out articles from the storage section.

Here, it is preferable that the support portion has a plurality of support positions, the input port corresponds to each support position of the plurality of support positions, and has a plurality of input areas, and the input detection unit will select a plurality of input positions Among the areas, the input area that is an input of an existing item, that is, an item input area is specified, and the control unit also associates the input history with the information corresponding to the support position of the item input area and stores it in the storage unit.

According to this configuration, when a plurality of support positions are provided in order to collect articles and the like corresponding to a plurality of classification destinations, the input history corresponding to each support position can be stored.

Furthermore, it is preferable that when the input detection unit specifies the item input region from among the plurality of input regions, as one aspect, the input detection unit corresponds to each input of the plurality of input regions The area is equipped with multiple detection devices.

In this way, when a detection device is provided for each of the plurality of input areas, it is possible to accurately detect the input of the article into each input area.

Alternatively, it is preferable that when the input detection unit specifies the item input region from among the plurality of input regions, as one aspect, the input detection unit includes 1 for all the plurality of input regions Detection device, the detection device will identify the article input area based on the relative position of the detection device and the article when the article is detected by the detection device.

According to this configuration, since one detection device detects the article input area from all the input areas, it is possible to suppress an increase in the scale of the system.

1‧‧‧Storage Department 2‧‧‧Item storage rack 3‧‧‧cargo 4‧‧‧ID reader (identification information reading department) 5‧‧‧Inspection Department 6‧‧‧ shelf 7‧‧‧Storage container (storage section) 8‧‧‧Opening 9‧‧‧Open face 10‧‧‧Notification Department 11‧‧‧ Walking Department 12‧‧‧Support 14‧‧‧Display 15‧‧‧Control Department 17‧‧‧ Barcode Reader 26‧‧‧ Walking wheel 27‧‧‧ driven wheel 28‧‧‧Moving motor 31‧‧‧ Pillar 32‧‧‧Supporting table 33‧‧‧Conveying container 40‧‧‧Storage Department 51‧‧‧Detection device 100‧‧‧ Picking equipment B‧‧‧Item BR‧‧‧Item input area E‧‧‧Region F‧‧‧Ground GI‧‧‧Image Information H‧‧‧Control device K, K1~K6‧‧‧Inlet L‧‧‧ access M‧‧‧operator MID‧‧‧Operator identification information (identification information showing operator information) P‧‧‧Set position PH‧‧‧Introduction PI‧‧‧ Picking Information Q‧‧‧Support position Q1‧‧‧1st support position Q2‧‧‧The second support position Q3‧‧‧3rd support position R‧‧‧ Input area R1‧‧‧First investment area R2‧‧‧ 2nd investment area R3‧‧‧3rd investment area R11‧‧‧ 1st input area R12‧‧‧The first input area in the first column R13‧‧‧The third input area in the first column R21‧‧‧The first input area in the second column R22‧‧‧ 2nd input area R23‧‧‧The third input area in the second column S1~S7‧‧‧Step T‧‧‧Identify information carrier T1‧‧‧Bracelet IC Tag T2‧‧‧Anklet IC tag TBID‧‧‧Item identification information U‧‧‧Fore and aft direction U1‧‧‧Front side U2‧‧‧ Rear side V‧‧‧ width direction X‧‧‧ 1st direction Y‧‧‧ 2nd direction Y1‧‧‧ access side Y2‧‧‧Storage side Z‧‧‧Up and down direction

Figure 1 is a plan view of the picking equipment. 2 is a perspective view of the picking equipment. 3 is an enlarged perspective view of the picking equipment and the article transfer vehicle. FIG. 4 is a side view of an article transport vehicle showing an example of detection by the input detection unit. Fig. 5 is a perspective view of a support portion. Fig. 6 is a control block diagram. 7 is a perspective view of an article transport vehicle. FIG. 8 is a side view showing another example of the article transport vehicle detected by the input detection unit. 9 is a diagram showing an example of a method of discriminating an article input area. FIG. 10 is a flowchart showing an example of storing identification information of an operator.

4‧‧‧ID reader (identification information reading department)

5‧‧‧Inspection Department

12‧‧‧Support

33‧‧‧Conveying container

B‧‧‧Item

K‧‧‧Inlet

M‧‧‧operator

Q‧‧‧Support position

R‧‧‧ Input area

T‧‧‧Identify information carrier

T1‧‧‧Bracelet IC Tag

Claims (4)

An article transport vehicle includes: a walking section that walks to a set position, the set position being a position set corresponding to each of a plurality of storage sections for storing articles; a control section that controls the walking section; a support section, Supporting the article, the article is taken out by the operator from the storage section and put into the input port; the input detection section detects the input of the article into the input port; and the identification information reading section reads and displays the Identification information, The identification information reading unit reads the identification information when the input detection unit detects the input of an item, The control unit may also associate the input history of the item with the identification information and store it in the storage unit. According to the article transfer vehicle of claim 1, wherein the support portion has a plurality of support positions, The aforementioned input port corresponds to each of the plurality of aforementioned support positions, and has a plurality of input areas, The input detection unit will identify the input area, which is the input area where the existing item is input, from the plurality of input areas, The control unit may also establish the relationship between the input history and the information corresponding to the support position of the object input area and store the information in the storage unit. The article transport vehicle according to claim 2, wherein the input detection unit is provided with a plurality of detection devices corresponding to each input area of the plurality of input areas. According to the article transfer vehicle of claim 2, wherein the input detection unit is provided with one detection device for all the plurality of input areas, The detection device specifies the article input area based on the relative position of the detection device and the article when the article is detected by the detection device.

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